For one PDF per response: if you preface the http response with the appropriate MIME extension (application/pdf) the client will (if it has a suitable facility for handling PDFs) use that facility. Printing would have to then be initiated by the user.
For multiple PDFs: personally, if I see a whole bunch of files I want I do a right-click-and-save-as (or a ctrl-click-to-open-in-a-new-tab) to all of them at once. Or I use the download manager extension I have installed.
If you want to get fancy, and if you can manipulate the PDF binaries, you could bundle all of the selected documents into one big PDF and serve that in the response.